基于CAN总线的控制系统及应用研究

【作者】 杨洪；

【导师】 郑耀林；

【作者基本信息】 华侨大学 ， 测试计量技术及仪器， 2004， 硕士

【摘要】 现场总线是自动化领域的计算机网络，是当今自动化领域技术发展的热点之一。它以总线为纽带，将现场设备连接起来成为一个能够相互交换信息的控制网络，是一种双向串行多节点数字通信的系统。CAN总线也是现场总线的一种，它最初被应用于汽车的控制系统中。由于其卓越的性能，CAN总线的应用范围已不再局限于汽车工业，被广泛应用到自动控制、楼宇自动化、医学设备等各个领域。 本文在分析了CAN总线2.0B协议标准的基础上，给出了建立CAN总线控制网络模型的原理，在此基础上分析了CAN总线节点软、硬件的实现方法。然后我们在实验室中建立了一个基于CAN总线的半物理的控制系统，它由2个CAN总线节点和一个CAN总线通信板卡以及由上位机仿真的被控对象组成的。CAN总线上的一个节点作为控制器，通过CAN总线通信板卡与上位机进行通信，控制上位机程序仿真的一个被控对象，而另一个节点则实现CAN总线的远程数据请求功能。由此建立的一个CAN总线系统，一方面可以在上位机上监控对象的运行状况，另一方面也可用来评定一种微机控制算法在CAN总线中的控制效果，并针对复杂对象在这样一个半物理系统中进行仿真时建模的有效途径作了探讨。同时，在设计CAN总线通信板卡时提出了一种在PC机与下位机之间进行浮点数传送的有效的方法。最后是对本文的总结并对CAN总线的在未来的发展作了展望。更多还原

【Abstract】 Fieldbus is a kind of computer network in automatization field and it has been one of the hotspots of automatization fields’ technique development. Fieldbus connects the field equipments with a bus and makes it a network through which information can be exchanged mutually. So fieldbus is a system which can transmit digital signals in two directions among many nodes. CAN is also one kind of fieldbus. Originally, it’s applied in the control systems of cars. But its application is not limited in automobile industry for its excellent performance now. It’s also applied in auto control, building automatization, mechanical treatment equipments, and so on.In this paper, we analyze the CAN 2.0B protocol first and a model of CAN control system is established. In the following part, we design the CAN nodes and the software to realize its performance. On this base, a semi-physical control system based on CAN is established in lab. It is composed of two CAN nodes, one CAN communication card and an object simulated by PC program. One of the two node is used as a controller to control the object through the CAN communication board. And the other one is to realize the remote data requesting. Such a system can be used to watch the working condition of the object and comment on the control method which is suitable for the microcomputer. Also, we discuss the effective ways for modeling when simulate complex objects in such a semi-physical system. Simultaneously, an efficient method for transmitting float data between PC and microcomputers is given. In the end, we make a summary and give the prospect of CAN bus development.更多还原